La recerca s'articula en dues línies amb els objectius que es detallen a continuació.

Percepció i Manipulació:
1. Enllaçar percepció i acció utilitzant mètodes geomètrics i estadístics per al modelatge de l'entorn i del propi robot, per a la planificació de tasques i moviments, i per a l'aprenentatge.
2. Aprofundir en l'aprenentatge per reforçament i en l'aprenentatge per demostració, en particular el "mestratge", com a base per a la interacció entre robots, humans i l'entorn.

Cinemàtica i Disseny de Robots:
3. Trobar mètodes generals i complets per a l'anàlisi i la planificació de moviments lliures de col·lisió de mecanismes.
4. Desenvolupar noves estructures mecàniques, preferentment robots paral·lels i robots basats en estructures "tensegrity".
5. Incrementar i millorar l'expertesa del grup en l'àrea del disseny mecànic


La investigación se articula en dos líneas con los objectivos que se detallan a continuación.

Percepción y Manipulación:
1. Enlazar percepción y acción utilitzando métodos geométricos y estadísticos para el modelado del entorno y del propio robot, para la planificación de tareas y movimientos, y para el aprendizaje.
2. Profundizar en el aprendizaje por refuerzo y en el aprendizaje por demostración, en particular el entrenamiento, como base para la interacción entre robots, humanos y el entorno.

Cinemática y Diseño de Robots:
3. Encontrar métodos generales y completos para análisis y planificación de movimientos libres de colisión.
4. Desarrollar nuevas estructuras mecánicas, preferentmente robots paralelos y robots "tensegrity".
5. Incrementar y mejorar la competencia del grupo en el área del diseño mecánico.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.


Research is organized in two lines with the following goals.

Perception and Manipulation:
1. Linking perception and action using geometric and statistic methods for modelling the environment and the robot, for task and motion planning, and for learning.
2. Deepening on reinforcement learning and in learning by demonstration, in particular "coaching", as a basis for the interaction of robots, humans and the environtment.

Kinematics and Robot Design:
3. Finding general and complete methods for the analysis of mechanisms and for planning collision-free motions.
4. Developing new mechanical structures, especially parallel robots and robots based on tensegrity structures.
5. Increasing and enhancing the expertise of the group in the area of mechanical design.

Recent Submissions

  • Matching and recovering 3D people from multiple views 

    Pérez Yus, Alejandro; Agudo Martínez, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2022)
    Conference report
    Open Access
    This paper introduces an approach to simultaneously match and recover 3D people from multiple calibrated cameras. To this end, we present an affinity measure between 2D detections across different views that enforces an ...
  • Knowledge representation for explainability in collaborative robotics and adaptation 

    Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Alenyà Ribas, Guillem (CEUR-WS.org, 2021)
    Conference report
    Open Access
    Autonomous robots are going to be used in a large diversity of contexts, interacting and/or collaborating with humans, who will add uncertainty to the collaborations and cause re-planning and adaptations to the execution ...
  • 3D Human pose, shape and texture from low-resolution images and videos 

    Xu, Xiangyu; Chen, Hao; Moreno-Noguer, Francesc; Jeni, Lázló; De La Torre, Fernando (2022)
    Article
    Open Access
    3D human pose and shape estimation from monocular images has been an active research area in computer vision. Existing deep learning methods for this task rely on high-resolution input, which however, is not always available ...
  • OCRA – An ontology for collaborative robotics and adaptation 

    Olivares Alarcos, Alberto; Foix Salmerón, Sergi; Borgo, Stefano; Alenyà Ribas, Guillem (2022)
    Article
    Open Access
    Industrial collaborative robots will be used in unstructured scenarios and a large variety of tasks in the near future. These robots shall collaborate with humans, who will add uncertainty and safety constraints to the ...
  • Unsupervised 3D reconstruction and grouping of rigid and non-rigid categories 

    Agudo Martínez, Antonio (2022)
    Article
    Open Access
    In this paper we present an approach to jointly recover camera pose, 3D shape, and object and deformation type grouping, from incomplete 2D annotations in a multi-instance collection of RGB images. Our approach is able to ...
  • Learning grounded word meaning representations on similarity graphs 

    Dimiccoli, Mariella; Wendt, Herwig; Battle, Pau (PUBLICACIONS EUPBL, ETT-ST/ACLSI/P99/EP2.1, 2021)
    Conference report
    Open Access
    This paper introduces a novel approach to learn visually grounded meaning representations of words as low-dimensional node embeddings on an underlying graph hierarchy. The lower level of the hierarchy models modality-specific ...
  • Self-supervised policy adaptation during deployment 

    Hansen, Nicklas; Jangir, Rishabh; Alenyà Ribas, Guillem; Abbeel, Pieter; Efros A, Alexei; Pinto, Lerrel; Wang, Xiaolong (OpenReview.net, 2021)
    Conference report
    Open Access
    In most real world scenarios, a policy trained by reinforcement learning in one environment needs to be deployed in another, potentially quite different environment. However, generalization across different environments ...
  • Ciència i ficció: quina inspira quina? 

    Torras, Carme (Inspiraciencia, CSIC Catalunya, 2021)
    Part of book or chapter of book
    Open Access
    Es repassen diverses iniciatives que implementen i reforcen el bucle de realimentació entre ciència i ficció. En particular, es descriuen algunes propostes que utilitzen la ciència-ficció com una eina pedagògicament ...
  • Challenge 1: Integrating knowledge, reasoning and learning 

    Manyà, Felip; Colomé Figueras, Adrià; García de Polavieja, Gonzalo; Ríos Insua, David; Torres Barrán, Alberto; Armengol, Eva; Blum, Christian; Flaminio, Tommaso; Godo Lacasa, Lluís; Levy, Jordi; Meseguer, Pedro; Segovia Aguas, Javier (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Knowledge, reasoning and learning (KRL) play a central role in artificial intelligence (AI) and are instrumental in solving many AI complex problems. In such problems we may have massive amounts of data and imprecise models, ...
  • Challenge 2: Multiagent systems 

    Osman, Nardine; López Castro, Daniel; Gallego Alcalá, Víctor; Ríos Insua, David; San Miguel Ruibal, Maximino; Toboso Martín, Mario Alfonso; Noriega Blanco Vigil, Pablo; Rodríguez Aguilar, Juan Antonio; Sabater Mir, Jordi; Sierra, Carles; Zurro Hernández, Débora; Degli Esposti, Sara; Alenyà Ribas, Guillem (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Our future is that of a mixed society of people and AI artifacts. A multitude of devices in our homes will need not only to make intelligent decisions, but they will also need to coordinate with each other to serve us well. ...
  • Challenge 4: Intelligent robotics 

    Alenyà Ribas, Guillem; Villagrá Serrano, Jorge; Fernández Saavedra, Maria Belén; González de Santos, Pablo; Haber Guerra, Rodolfo E.; Jiménez Ruiz, Antonio Ramón; Ribeiro, Angela; Rocón de Lima, Eduardo; Borràs Sol, Júlia; Moreno-Noguer, Francesc; Torras, Carme (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Intelligent robotics are called to be the next revolution by providing AI with the capability of interacting with the physical world. Robots are overpassing their cages in the industry to become intelligent machines that ...
  • Challenge 6: Ethical, legal, economic, and social implications 

    Noriega Blanco Vigil, Pablo; Ausín Díez, Txetxu; Mueller, Hannes; Ellman, Matthew; Cardoso, Ana Rute; Aguiar González, Fernando; López Castro, Daniel; Toboso Martín, Mario Alfonso; Wagner, Astrid; García Aracil, Adela; Degli Esposti, Sara; Miller Moya, Luis Miguel; Jimenez Schlegl, Pablo; Pareto Boada, Júlia; Torras, Carme (Consejo Superior de Investigaciones Científicas (CSIC), 2021)
    Part of book or chapter of book
    Restricted access - publisher's policy
    In six decades of history, AI has become a mature and strategic discipline, successfully embedded in mainstream ICT and powering innumerable online applications and platforms. Several official documents stating specific ...

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